EP3376329A1 - Système de travail automatique et procédé de commande associé, et dispositif de marche automatique - Google Patents

Système de travail automatique et procédé de commande associé, et dispositif de marche automatique Download PDF

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Publication number
EP3376329A1
EP3376329A1 EP16787704.2A EP16787704A EP3376329A1 EP 3376329 A1 EP3376329 A1 EP 3376329A1 EP 16787704 A EP16787704 A EP 16787704A EP 3376329 A1 EP3376329 A1 EP 3376329A1
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EP
European Patent Office
Prior art keywords
signal
detection
value
point
working system
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EP16787704.2A
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German (de)
English (en)
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EP3376329B1 (fr
EP3376329A4 (fr
Inventor
Davide DALFRA
Emanuel CONTI
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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Publication of EP3376329A4 publication Critical patent/EP3376329A4/fr
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles

Definitions

  • the present invention relates to an automatic working system, in particular to a system controlling an automatic moving device to work in a working region.
  • the present invention relates to a control method, in particular to a control method controlling an automatic moving device to work in a working region.
  • the present invention relates to an automatic moving device, in particular to an automatic moving device to work and move in a working region.
  • the automatic moving device can execute a preset relevant task according to an automatically preset program without manual operation and intervention
  • the automatic moving device is very widely applied to industrial application and household products.
  • the automatic moving device applied to the industrial application comprises for example robots executing various functions
  • the automatic moving device applied to the household products comprises a mower, a dust collector, etc.
  • Such automatic moving device generally automatically moves in a preset working region without departing from the preset working region.
  • the outer boundary of the preset working region is usually determined by adopting an electrical boundary wire.
  • the boundary wire is usually a common electric wire.
  • the generated electric field or magnetic field can be detected by a proper sensor in the automatic moving device, the detected signal is then transmitted to a controller in the automatic moving device, and the controller compares the obtained signal with a preset judging condition in a memory, to obtain the conclusion whether the automatic moving device is in the working region.
  • an automatic working system comprises a signal generating apparatus 80', a boundary wire 50' electrically connected to the signal generating device and an automatic moving device 10'; the boundary wire 50' defines a working region 30' surrounded by the boundary wire 50' and a non-working region 70' outside the boundary wire 50'.
  • the signal generating apparatus 80' generates a periodical current signal SS as shown in Fig. 2 .
  • the current signal SS generates an electromagnetic field 90' changed with the boundary wire 50' as a center when flowing by the boundary wire 50'. At any moment, the polarity of the electromagnetic field 90' in the working region 30' is opposite to that of the electromagnetic field 90' in the non-working region 70'.
  • the automatic moving device 10' further comprises a signal detection apparatus 20' and a controller 190' (not shown in the drawing).
  • the signal detection apparatus 20' usually is a sensing coil, which senses the changed electromagnetic field 90' to generate a detection signal SJ', such as alternating-current voltage or alternating-current current.
  • the controller 190' receives the signal detection signal SJ' and compares the detection signal SJ' with a preset threshold, and when the amplitude value of the voltage or current exceeds the threshold, the controller 190' indicates the automatic moving device 10' to depart from the boundary wire 50' of the working region.
  • the controller 190' judges that the automatic moving device is in the non-working region 70' by identifying that the phase of the detection signal SJ' is different from the preset phase in direction.
  • the automatic working device 10' is necessarily provided with a motor driving the automatic moving device to move or/and a motor driving the automatic moving device to mow grass or collect dust or other working parts to work, and the operation of the motor generates an electromagnetic field.
  • the electromagnetic field is also sensed by the signal detection apparatus 110' and a voltage or current signal is generated. Therefore, the detection signal SJ' received by the controller 190' actually contains an interference signal brought by the motor.
  • the controller 190' adopts the interfered detection signal SJ' to judge and control, a wrong judgment on inside and outside often occurs and a control command not according with an actual condition is sent.
  • the detection signals sensed by the automatic moving devices in respective working regions necessarily contain the interference brought by the adjacent electromagnetic field. Therefore, the detection signal SJ' received by each controller 190' actually contains the interference signal brought by the electromagnetic field in the adjacent working region.
  • the controller 190' adopts the interfered detection signal SJ' to judge and control, a wrong judgment on inside and outside often occurs and a control command not according with an actual condition is sent.
  • the automatic moving device 10' In the actual working region, the automatic moving device 10' necessarily works in a free space, and various electromagnetic waves sent from all kinds of radio devices or other types of devices exist in the free space. At certain moment, certain specific electromagnetic signal may be detected by the signal detection apparatus 110'. Therefore, the detection signal SJ' received by each controller 190' actually contains the interference signal brought by the electromagnetic waves in the free space. When the controller 190' adopts the interfered detection signal SJ' to judge and control, a wrong judgment on inside and outside often occurs and a control command not according with an actual condition is sent.
  • the invention aims to solve the problem about providing an automatic working system and method which eliminates or reduces the signal interference.
  • technical solution of the invention is a control method of an automatic working system, comprising the following steps: providing a signal generation apparatus configured to generate a current signal, the current signal flowing by a boundary wire to generate an electromagnetic field; providing an automatic moving device, the automatic moving device being provided with a plurality of detection devices configured to detect said electromagnetic field; detecting said electromagnetic field by said plurality of detection devices to generate a plurality of detection signals respectively; multiplying said plurality of detection signals to generate a product signal, the direction of said product signal being kept same as that one of said plurality of detection signals; determining a first signal point and a second signal point based on said product signal; generating characteristic values based on parameters of said first signal point and said second signal point, comparing said characteristic values with preset thresholds and obtaining a comparision result, and judging whether said one of said plurality of detection signals is interfered by noise according to said comparison result.
  • said plurality of detection devices comprising a first detection device and a second detection device; detecting said electromagnetic field by said first detection device and said second detection device to generate a first detection signal and a second detection signal respectively; said first detection signal is said one of said plurality of detection signals.
  • said first signal point is on said first detection signal and its position is corresponding to the position of a maximal value point of said product signal; and said second signal point is on said first detection signal and its position is corresponding to the position of a minimal value point of said product signal.
  • said first signal point is on said second detection signal and its position is corresponding to the position of a maximal value point of said product signal; and said second signal point is on said second detection signal and its position is corresponding to the position of a minimal value point of said product signal.
  • said first signal point is a maximal value point of said product signal; and said second signal point is a minimal value point of said product signal.
  • said characteristic values comprise an amplitude value of said first signal point, and said amplitude value is defined as a peak value; said characteristic values also comprise an amplitude value of said second signal point, and said amplitude value is defined as a valley value; said preset thresholds comprise a threshold value; the absolute values of said peak value and said valley value are compared with said threshold value respectively, if said absolute values of the peak value and said valley value are both larger than said threshold value, said first detection signal is judged not to be interfered by the noise, otherwise, said first detection signal is judged to be interfered by the noise.
  • said characteristic values comprise a time difference between said first signal point and said second signal point, which is defined as a peak-valley time difference;
  • said preset thresholds value comprises an interval lower limit value and an interval upper limit value; when said absolute values of said peak value and said valley value are both larger than said threshold value, said peak-valley time difference is compared with the interval lower limit value and the interval upper limit value, if said peak-valley time difference is larger than or equal to said interval lower limit value and smaller than or equal to said interval upper limit value, said first detection signal is judged not to be interfered, otherwise, said first detection signal is judged to be interfered by the noise.
  • said characteristic values comprise a time difference between said first signal point and said second signal point, which is defined as a peak-valley time difference;
  • said preset thresholds value comprises an interval lower limit value and an interval upper limit value;
  • said peak-valley time difference is compared with said interval lower limit value and said interval upper limit value, if said peak-valley time difference is larger than or equal to said interval lower limit value and smaller than or equal to said interval upper limit value, said first detection signal is judged not to be interfered, otherwise, said first detection signal is judged to be interfered by the noise.
  • value ranges of said interval lower limit value and said interval upper limit value are based on a period of said current signal.
  • said characteristic values comprise an amplitude value difference between said first signal point and said second signal point, which is defined as a peak-valley amplitude difference;
  • said preset thresholds value comprises an amplitude value;
  • said peak-valley amplitude difference is compared with said amplitude value when said peak-valley time difference is larger than or equal to said interval lower limit value and smaller than or equal to said interval upper limit value, if said peak-valley amplitude difference is smaller than or equal to said amplitude value, said first detection signal is judged not to be interfered, otherwise, said first detection signal is judged to be interfered by the noise.
  • said characteristic values comprise an amplitude value difference between said first signal point and said second signal point, which is defined as a peak-valley amplitude difference; said preset thresholds value comprises an amplitude value; said peak-valley amplitude difference is compared with said amplitude value, if said peak-valley amplitude difference is smaller than or equal to said amplitude value, said first detection signal is judged not to be interfered, otherwise, said first detection signal is judged to be interfered by the noise.
  • the first detection device generating said first detection signal is judged to be located in or out said working region encircled by said boundary wire.
  • the method of keeping the direction of said product signal and that of said first detection signal same comprises: solving the absolute value of said second detection signal, then multiplying said absolute value of said second detection signal by said first detection signal, to generate said product signal.
  • said first detection signal and said second detection signal are multiplied after being subjected to analog digital conversion.
  • characteristic values comprise a position coordinate index corresponding to the maximal value of said product signal, and such index is defined as a large value index; said characteristic values also comprise a position coordinate index corresponding to the minimal value of said product signal, and such index is defined as a small value index.
  • said characteristic values also comprise an amplitude value of said first detection signal at said large value index, which is defined as a peak value; and said characteristic values also comprise an amplitude value of said first detection signal at said small value index, which is defined as a valley value.
  • said first signal point and said second signal point are then determined based on said product signal subjected to said optimal filtering.
  • an optimal filtering core of said optimal filtering is corresponding to said current signal generated by said signal generating apparatus.
  • said optimal filtering core of said optimal filtering is a detection signal in said working region defined by said boundary wire.
  • an automatic working system comprising: a signal generation apparatus, configured to generate a current signal; a boundary wire, forming an electric loop with the signal generating apparatus, characterized in that said current signal flows by said boundary wire to generate an electromagnetic field; an automatic moving device, automatically walking and working in a working region defined by said boundary wire; said automatic moving device comprises a processor, a controller and a plurality of detection devices configured to detect said electromagnetic field; detecting said electromagnetic field by said plurality of detection devices to generate a plurality of detection signals respectively; said processor receives said plurality of detection signals, and multiplies said plurality of detection signals to generate a product signal, and the direction of said product signal being kept same as that one of said plurality of detection signals; a first signal point and a second signal point are determined based on said product signal; characteristic values are generated based on parameters of said first signal point and said second signal point, said characteristic values are compared with preset thresholds to generate a comparison result which is transmitted to said controller; and said controller
  • said plurality of detection devices comprising a first detection device and a second detection device; detecting said electromagnetic field by said first detection device and said second detection device to generate a first detection signal and a second detection signal respectively; and the direction of said product signal being kept same as that of said first detection signal; said first detection signal is said one of said plurality of detection signals.
  • said first signal point is on said first detection signal and its position is corresponding to the position of a maximal value point of said product signal; and said second signal point is on said first detection signal and its position is corresponding to the position of a minimal value point of said product signal.
  • said first signal point is on said second detection signal and its position is corresponding to the position of a maximal value point of said product signal; and said second signal point is on said second detection signal and its position is corresponding to the position of a minimal value point of said product signal.
  • said first signal point is a maximal value point of said product signal; and said second signal point is a minimal value point of said product signal.
  • the characteristic values comprise an amplitude value of said first signal point, and said amplitude value is defined as a peak value; said characteristic values also comprise an amplitude value of said second signal point, and said amplitude value is defined as a valley value; said preset thresholds comprise a threshold value; the absolute values of said peak value and said valley value are compared with said threshold value respectively, if the absolute values of said peak value and said valley value are both larger than said threshold value, said first detection signal is judged not to be interfered by the noise, otherwise, said first detection signal is judged to be interfered by the noise.
  • said characteristic values comprise a time difference between said first signal point and said second signal point, which is defined as a peak-valley time difference;
  • said preset thresholds value comprises an interval lower limit value and an interval upper limit value;
  • said peak-valley time difference is compared with said interval lower limit value and said interval upper limit value, if said peak-valley time difference is larger than or equal to said interval lower limit value and smaller than or equal to said interval upper limit value, said first detection signal is judged not to be interfered, otherwise, said first detection signal is judged to be interfered by the noise.
  • said value ranges of said interval lower limit value and said interval upper limit value are based on a period of said current signal.
  • said characteristic values comprise an amplitude value difference between said first signal point and said second signal point, which is defined as a peak-valley amplitude difference;
  • said preset thresholds value comprises an amplitude value;
  • said peak-valley amplitude difference is compared with said amplitude value, if said peak-valley amplitude difference is smaller than said amplitude value, said first detection signal is judged not to be interfered, otherwise, said first detection signal is judged to be interfered by the noise.
  • said first detection signal and said second detection signal are multiplied after being subjected to analog digital conversion.
  • the method of keeping the direction of said product signal and that of said first detection signal same comprises: solving the absolute value of said second detection signal, then multiplying said absolute value of said second detection signal by said first detection signal, to generate said product signal.
  • said processor compares a time sequence relation between said first signal point and said second signal point, said first detection device generating said first detection signal is judged to be located in or out said working region encircled by said boundary wire.
  • said controller sends a corresponding control command to control a direction of said automatic moving device according to a position relation between said first detection device and said boundary wire.
  • said controller judges that said first detection signal is interfered by the noise, said controller judges that an effective signal is not received in such processing period.
  • said processor also comprises an optimal filter, after said product signal is subjected to optimal filtering, said first signal point and said second signal point are then determined based on said product signal subjected to said optimal filtering.
  • an optimal filtering core of said optimal filtering is corresponding to a current signal generated by said signal generating apparatus.
  • said optimal filtering core of said optimal filtering is a detection signal in said working region defined by said boundary wire.
  • an automatic moving device automatically moving and working in a working region defined by a boundary wire, and comprising: a processor, a controller and a plurality of detection devices configured to detect said boundary wire, detecting said boundary wire by said plurality of detection devices to generate a plurality of detection signals respectively; said processor receives said plurality of detection signals, and multiplies said plurality of detection signals to generate a product signal, and the direction of said product signal being kept same as that one of said plurality of detection signals; a first signal point and a second signal point are determined based on said product signal; characteristic values are generated based on parameters of said first signal point and said second signal point, said characteristic values are compared with preset thresholds to generate a comparison result which is transmitted to said controller; and said controller judges whether said one of said plurality of detection signals is interfered by noise according to the comparison result.
  • said plurality of detection devices comprising a first detection device and a second detection device; detecting said boundary wire by said first detection device and said second detection device to generate a first detection signal and a second detection signal respectively; and the direction of said product signal being kept same as that of said first detection signal; said first detection signal is said one of said plurality of detection signals.
  • said first detection device and said second detection device are symmetric about a central axis of said automatic moving device.
  • a transverse distance between said first detection device and said second detection device is larger than or equal to 80mm.
  • said first detection device and said second detection device are respectively located in different sides of the motor of said automatic moving device.
  • technical solution of the invention is a control method of an automatic working system, characterized by comprising the following steps: providing a signal generating apparatus configured to generate a current signal, said current signal flowing by a boundary wire to generate an electromagnetic field; providing an automatic moving device, said automatic moving device having a plurality of detection devices which are configured to detect said electromagnetic field; detecting said electromagnetic field by said plurality of detection devices to generate a plurality of detection signals respectively; multiplying said plurality of detection signals to generate a product signal; and judging whether one of said plurality of detection signals is interfered by noise based on said product signal.
  • a first signal point and a second signal point are determined based on said product signal, characteristic values are generated based on parameters of said first signal point and said second signal point, said characteristic values are compared with preset thresholds to obtain a comparison result, and according to said comparison result, whether one of said plurality of detection signals is interfered by noise is judged.
  • signals which are smaller than a specific intensity value are filtered based on said product signal, and whether one of said plurality of detection signals is interfered by noise is judged according to said filtering result.
  • an automatic working system comprising: a signal generating apparatus, configured to generate a current signal; a boundary wire, forming an electric loop with said signal generating apparatus, characterized in that said current signal flows by said boundary wire to generate an electromagnetic field; an automatic moving device, automatically moving and working in a working region defined by said boundary wire; characterized in that said automatic moving device comprises a processor, a controller and a plurality of detection devices which are configured to detect said electromagnetic field; detecting said electromagnetic field by said plurality of detection devices to generate a plurality of detection signals respectively; said processor receives said plurality of detection signals , and multiplies said plurality of detection signals to generate a product signal; and said controller judges whether one of said plurality of detection signals is interfered by noise based on said product signal.
  • an automatic moving device automatically moving and working in a working region defined by a boundary wire
  • said automatic moving device comprises: a processor, a controller and a plurality of detection devices second detection device configured to detect said boundary wire; detecting said boundary wire by said plurality of detection devices to generate a plurality of detection signals respectively; said processor receives said plurality of detection signals, and multiplies said plurality of detection signals to generate a product signal; and said controller judges whether one of said plurality of detection signals is interfered by noise based on said product signal.
  • the present invention has the beneficial effects: by effectively identifying the detected signal, the signal interference caused by the environment and motors are effectively removed, and the anti-interference capacity of the automatic working system is improved.
  • An effective signal identifying control algorithm comprises a multiplying step, a corresponding step and a comparing and judging step, and the effective signal identifying control algorithm is effective and simple.
  • the automatic working system as shown in Fig. 3 comprises a signal generating apparatus 80, an automatic moving device 10 and a boundary wire 50, the signal generating apparatus 80 is electrically connected to the boundary wire 50.
  • the signal generating apparatus 80 generates a current signal SS as shown in Fig. 2 and sends to the boundary wire 50, and the current signal generates a changed electromagnetic field 90 when flowing by the boundary wire 50.
  • the current signal SS may not adopt a periodical pulse voltage signal as shown in Fig. 2 and adopts other types of signal forms capable of generating a changed magnetic field.
  • the boundary wire 50 is configured to dividing a specific region into an inner region and an outer region, the range located in the boundary wire 50 is defined as a working region 30, and the range located outside the boundary wire 50 is defined as a non-working region 70.
  • the automatic moving device 10 can be automatic or semi-automatic machines such as an intelligent mower or cleaning robot.
  • the automatic moving device 10 can be an intelligent mower.
  • the automatic moving device 10 comprises a shell 102, a plurality of wheels 104 located on the bottom of the shell 102, a motor 106 (not shown) located in the shell 102, and a controller 190 controlling the automatic moving device 10 to automatically work and move (not shown).
  • the number of the motor 106 can be one or more, and the motor 106 is configured to drive the wheels 104 to move or to drive a working part (not shown) of the automatic moving device to mow grass.
  • a normal walking direction of the automatic moving device 10 is defined as the front direction of the automatic moving device 10, the direction opposite to the front direction is the back direction of the automatic moving device 10, and based on the defined front and back directions of the automatic moving device 10, the automatic moving device 10 also comprises left and right sides located between the front and back directions.
  • the automatic moving device 10 comprises at least two detection devices configured to detect the electromagnetic field 90.
  • the automatic moving device comprises a first detection device 1101 and a second detection device 1102.
  • the first detection device 1101 and the second detection device 1102 respectively sense the change of the magnetic field 90 to generate a first detection signal SJ1 and a second detection signal SJ2.
  • the first detection device 1101 and the second detection device 1102 are induction coils specifically.
  • there can be more than two detection devices on the automatic moving device 10 and the more than two detection devices sense the change of the magnetic field 90 to generate more than two detection signals tespectively.
  • the induction coils are usually vertically disposed on the automatic moving device 10, such that an effective area of the electromagnetic field 90 sensed by the induction coils is maximal, and the effective area is the area vertical to a magnetic field direction.
  • the induction coils can be disposed on the automatically walking device 10 non-vertically, for example, disposed on the automatic moving device 10 with different included angles of 75°and 45°. No matter the induction coils are disposed on the automatic moving device 10 in which angle, as long as the induction coils have the effective area, and can sense the generated detection signal.
  • the first detection device 1101 and the second detection device 1102 are respectively located at left and right sides of the central axis Y of the automatic moving device 10 and are left and right symmetric about the central axis Y.
  • the first detection device 1101 and the second detection device 1102 can be located on other positions of the automatic moving device 10.
  • the positions of the first detection device and the second detection device 1102 are symmetric about the central axis of the two charging jointing terminals.
  • the first detection device 1101 and the second detection device 1102 are respectively located in different sides of motor 106.
  • the first detection device 1101 is located in the left side of motor 106 and the second detection device 1102 is located in the right side of motor 106.
  • the automatic moving device 10 comprises more than two detection devices, one of the detection devices is located in a different side of motor 106.
  • the automatic moving device 10 comprises more than two detection devices
  • the automatic moving device 10 comprises three detection devices, two of the detection devices are respectively located at left and right sides of the central axis, and the last detection apparatus is located on certain point of the symmetric axis.
  • the disposing of the specific position There are too many embodiments about the disposing of the specific position. In the following text, the embodiment that the automatic moving device 10 has two detection devices is introduced in detail.
  • the detected detection signal is subjected to analog digital conversion, and then, a digital signal processor is configured to denoise. It is known by those skilled in the art that, if the analog digital conversion is not performed, the denoising treatment process in this embodiment can also be realized using a corresponding hardware circuit.
  • the automatic moving device 10 further comprises a first conditioning circuit 1301 electrically connected to the first detection device 1101, a second conditioning circuit 1302 electrically connected to the second detection device 1102, a differential analog digital converter 170 electrically connected to the first conditioning circuit 1301 and the second conditioning circuit 1302 respectively, and a processor 150 electrically connected to the differential analog digital converter 170.
  • the first conditioning circuit 1301 amplifies the first detection signal SJ1 transmitted from the first detection device 1101 to obtain a first adjusting signal ST1, such that the first adjusting signal ST1 accords with an input demand of the differential analog digital converter 170.
  • the second conditioning circuit 1302 amplifies the second detection signal SJ2 transmitted from the second detection device 1102 to obtain a second adjusting signal ST2, such that the second adjusting signal ST2 accords with an input demand of the differential analog digital converter 170.
  • the amplifying parameters in the first conditioning circuit 1301 and the second conditioning circuit 1302 are the same, to ensure that a corresponding relationship between the obtained first conditioning signal ST1 and the second conditioning signal ST2 equals to that between the first detection signal SJ1 and the second detection signal SJ2.
  • the differential analog digital converter 170 is adopted in this embodiment to perform analog digital conversion on the first conditioning signal ST1 and the second conditioning signal ST2 respectively. It is known by those skilled in the art that two analog digital converters with the same parameters can also be adopted to perform analog digital conversion on the first conditioning signal ST1 and the second conditioning signal ST2 respectively.
  • a selected sampling frequency of the analog digital conversion is 50KHz. It is known by those skilled in the art that the sampling frequency can also adopt other numbers, and the sampling frequency does not limit the present invention.
  • the first conditioning signal ST1 and the second conditioning signal ST2 are converted into a first digital signal SD1 and a second digital signal SD2 respectively.
  • the differential analog digital converter 170 transmits the first digital signal SD1 and the second digital signal SD2 to the processor 150 for denoising treatment.
  • the differential analog digital converter 170 also contains a memory 1702 for storing the first digital signal SD1 and/or the second digital signal SD2. It is known by those skilled in the art that a microprocessor containing a memory space instead of the differential analog digital converter containing the memory may also be adopted, and only the first digital signal SD1 and/or the second digital signal SD2 are stored in the microprocessor.
  • the processor 150 After the processor 150 receives the first digital signal SD1 and the second digital signal SD2, the received digital signal is treated according to a built-in denoising control algorithm, and a treated result is transmitted to the controller 190.
  • the treated result comprises that whether the first detection device 1101 detects an effective signal, whether the second detection device 1102 detects an effective signal, whether the first detection device 1101 is located in a working region 30, and whether the second detection device is located in the working detection region 30.
  • the controller 190 sends a corresponding control command to the automatic working device based on the treated result. For example, when both the first detection device 1101 and the second detection device 1102 do not detect the effective signal, the controller 190 does not send any action command, such that the automatic moving device 10 does not move any more; when the first detection device 1101 is in the working region 30 and the second detection device 1102 is in the non-working region 70, if the automatic working device is in a working mode, then the controller 190 sends a command of turning leftwards and advancing, and if the automatic working device is in a returning mode, then the controller 190 sends a command of continue to advance along the original direction.
  • a user or designer can design the specific control command by self according to different treated results. Therefore, logic therein is not repeated any more.
  • the denoising control algorithm executed by the processor 150 and the controller 190 is specifically introduced as follows: Since in the actual scene, an interference signal (i.e., the noise in the text) is random, and has uncertainty, when the denoising control algorithm is introduced in the text, the specific process of the algorithm is specified by merely adopting an assumed ideal signal.
  • the illustrated signal waveform is not a signal obtained in an actual scene, and the illustrated waveform content does not limit the present invention. The drawing only shows a signal waveform in one processing period.
  • the denoising control algorithm flows of the first digital signal SD1 and the second digital signal SD2 are similar, in the text, only the treatment process of the first digital signal SD1 is described by examples, i.e., only the effectiveness of the first detection signal SJ1 and the fact whether the first detection device 1101 is in or outside the working region 30 are judged.
  • the first conditioning signal ST1 output from the first conditioning circuit 1301 is as shown in Fig. 5(a) , and is changed into the first digital signal SD1 as shown in Fig. 5(b) after sampled by the differential analog digital converter 170.
  • the first digital signal SD1 maintains the physical characteristics of the first conditioning signal ST1, such as signal period, signal amplitude value, signal phase, etc.
  • the time characteristic [ 1]t of the first conditioning signal ST1 correspondingly becomes an index characteristic i of the first digital signal SD1.
  • the second conditioning signal ST2 output from the second conditioning circuit 1302 is as shown in Fig. 5(c) , and is changed into the second digital signal SD2 as shown in Fig. 5(d) after sampled by the differential analog digital converter 170.
  • the second digital signal SD2 maintains the physical characteristics of the second conditioning signal ST2, such as signal period, signal amplitude value, signal phase, etc.
  • the time characteristic t of the second conditioning signal ST2 correspondingly becomes an index characteristic i of the second digital signal SD2.
  • Steps of the specific denoising control algorithm are as shown in Fig. 6 :
  • an amplifying step may be increased, i.e., the first digital signal SD1 and the second digital signal SD2 are amplified.
  • the signal detection apparatus detects the electromagnetic field 90 ceaselessly to generate a corresponding detection signal. Therefore, seen from the time axis, the detection signals, the conditioning signals and the digital signals are continuously updated and changed.
  • the memory 1702 of the differential analog digital converter 170 takes the signals stored in a time period as data in the denoising control algorithm. In actual working scene, the sampling frequency of the differential analog digital converter 170 is 50KHz, i.e., the first conditioning signal ST1 is sampled once every 20us to obtain a corresponding digital amplitude value.
  • the processing period of the denoising control algorithm is 14ms, i.e., the corresponding index period of the digital signals is 700 points. It is known by those skilled in the art that the processing period can be changed according to selected hardware or adding a limiting condition. Therefore, the processing period does not constitute a limitation to the present invention.
  • the time characteristic t of the analog signals and the index characteristic i of the digital signals have a one to one corresponding relationship.
  • the corresponding relationship between the time characteristic t and the index characteristic is as shown in the following table:
  • the signal multiplying step T1 also comprises the following two steps:
  • the manner of solving the absolute value of the second digital signal SD2 is adopted, such that the direction of the product signal SM is kept the same as that of the first digital signal SD1.
  • those skilled in the art can also adopt other manners to achieve the aim.
  • the product signal After the product signal is obtained, some features of the product signal are corresponded to the detection signal to obtain a judgment value for judging together with the preset thresholds.
  • the digital signals are obtained by conditioning and sampling the detection signals, and the features of the digital signals correspond to those of the detection signals. Therefore, in this embodiment, the next step is to correspond some features of the product signal to the digital signals to obtain a judging value for comparing with the preset thresholds.
  • the large value index Index_Pos and the small value index Index_Neg are obtained by solving the indexes of the product signal SM at the maximal value and the minimal value.
  • the large value index Index_Pos can be the index of certain point in a preset range at the maximal value of the product signal SM, for example, the amplitude value at the maximal value of the product signal SM is A, then the large value index Index_Pos can be the index corresponding to the certain signal point in the range with the amplitude equal to 0.9A-A.
  • the small value index Index_Neg can be the index of certain point in the preset range at the minimal value of the product signal SM.
  • Step T22 in the processing period, the point at the large value index Index_Pos corresponding to the first digital signal SD1 is the first signal point S_point1, and the point at the small value index Index_Neg corresponding to the first digital signal SD1 is the second signal point S_point2.
  • the control algorithm obtains four characteristic values for judging, namely, the large value index Index_Pos, the small value index Index_Neg, the peak value Peak-Pos and valley value Peak_Neg.
  • step T3 of judging whether the signal is effective is performed.
  • Fig. 10 discloses a first embodiment of step T3.
  • Step T31 comparing the peak value Peak_Pos with the preset threshold V; solving the absolute value of the valley value Peak_Neg, and comparing the absolute value with the preset threshold value V; if the two comparison results are both larger than or equal to the threshold value V, i.e., Peak_Pos ⁇ V&&
  • the threshold value V is a variable, and its specific value may be different in different processing periods.
  • the processor 150 determines the specific value of the threshold value V according to the peak values of all signals in step T2.
  • the threshold value V has a lower limit value V0, i.e., V ⁇ V0.
  • the lower limit value is determined by experiment, and its specific value is related to the automatic working system. In the automatic working system, the point farthest away from the boundary wire 50 is selected, and the signal peak value measured at this point is the lower limit range value V0.
  • the T31 judging step judges whether the detected signal is an effective signal from the aspect of amplitude value of the signal, thereby removing the interference noise.
  • Fig. 11 discloses a second embodiment of step T3.
  • Step T32 performing method of difference on the large value index Index_Pos and the small value index Index_Neg, solving the absolute value of the difference value, and comparing the absolute value with a preset interval value; if the absolute value is in the interval [P, K], i.e., P ⁇
  • the interval lower limit value P and the interval upper limit value K are related to the automatic working system. According to the boundary signal SS generated by the signal generating apparatus 80, it can be theoretically calculated that in the case of no noise interference, in any processing period, the changed time node of the rising edge of the detection signal of the detection apparatus is the index point, the index point is defined as P; and the changed time node of the rising edge of the detection signal is the index point, and the index point is defined as K.
  • T32 determines whether the detected signals are effective signals from the aspect of signal period, thereby removing the interference noise.
  • Fig. 12 discloses a third embodiment of step T3.
  • Step T33 after the method of difference is performed on the peak value Peak_Pos and the valley value Peak_Neg, and comparing the difference value with the preset amplitude value Z; entering step T4 if the difference value is smaller than or equal to the amplitude value, i.e., Peak_Pos - Peak_Neg ⁇ Z, otherwise, judging the first digital signal SD1 to be an ineffective signal, directly entering step T51, the conclusion output to the controller 190 being no signal.
  • the amplitude value Z is a signal amplitude value span set according to the automatic working system. In the case of no noise interference, the amplitude value space of the signal detected by the detection apparatus does not exceed the amplitude value Z.
  • T33 judging step determines whether the detected signal is an effective signal from the aspect of signal amplitude value, thereby preventing the controller from making an inappropriate control command according to the signal interfered by the noise.
  • Fig. 13 discloses a fourth embodiment of step T3, the fourth embodiment comprises the above 3 judging steps, and the specific step flow is as follows:
  • Step T33 and T31 both denoise from the aspect of signal amplitude values, step T33 further confirms step T31, and step T32 denoises from the aspect of signal period, thereby improving the accuracy of judging whether the signal is effective.
  • step T4 of judging inside and outside is performed. A specific process of Step T4 is as shown in Fig. 11 .
  • Step T4 comparing the large value index Index_Pos and the small value index Index_Neg; if the large value index Index_Pos is smaller than the small value index Index_Neg, judging that the first detection device 1101 configured to obtain the first digital signal SD1 is in the working region 30, entering step T52, a conclusion output to the controller 190 being that the first detection device is in the working region; otherwise, judging the first detection device 1101 configured to obtain the first digital signal SD1 is outside the working region 30, entering step T53, a conclusion output to the controller 190 being that the first detection device is outside the working region.
  • the signal detection apparatus in the working region 30 firstly detects the peak value then detects the valley value, and the signal detection apparatus in the non-working region 70 firstly detects the valley value and then detects the peak value. Therefore, whether the detection apparatus of the detection signal is in or outside the working region can be detected by judging an occurrence sequence of the signal peak value and the valley value, thereby judging whether the automatic moving device is in or outside the working region.
  • Fig. 15 is a complete flow chart integrating step T1, step T2, step T3, step T4 and step T5 together.
  • the first signal point S_Point1 and the second signal point S_Point2 are solved from the first digital signal SD1.
  • the first signal point S_Point1 and the second signal point S_Point2 can be solved from the second digital signal SD2.
  • the point of the second digital signal SD2 at the large value index Index_Pos is the first signal point S_Point1
  • the point of the second digital signal SD2 at the small value index Index_Neg is the second signal point S_Point2.
  • the first signal point S_Point1 and the second signal point S_Point2 can be solved from the product signal SM.
  • the point of the product signal SM at the large value index Index_Pos is the first signal point S_Point1
  • the point of the product signal SM at the small value index Index_Neg is the first signal point S_Point2.
  • the flow of the denoising control algorithm of the present invention is not affected.
  • the specific values of the characteristic values generated based on the parameters of the first signal point S_Point1 and the second signal point S_Point2 may be changed, therefore, only the range of values of the preset thresholds needs to be adaptively changed.
  • the effective signal obtained from the denoising control algorithm configured to judge whether the automatic moving device is in or outside the working region, but also the strength of the effective signal (i.e., the amplitude value of the waveform signal) can be configured to judge the distance between the automatic moving device and the boundary wire. Further, by the distance between the automatic moving device and the boundary wire, a working path of the automatic moving device or the route of returning to charging station can be defined, thereby avoiding damage to a lawn. After subjected to the denoising control algorithm, the anti-interference capacity of the automatic working system can be effectively improved. Therefore, the automatic working system not only is suitable for a small-range working region, but also can be applicable to a large-range working region (for example, the area of the working region 30 is larger than 2800 square meters).
  • the above embodiments are a control process of judging whether the first detection device 1101 is in the working region. It is known by those skilled in the art that the control process of judging whether the second detection device 1102 is in the working region is similar with the above process, as long as the absolute value solving step in step T2 is changed to solve the absolute value of the first digital signal SD1, in the valuing process of the subsequent step T3, the corresponding value of the second digital signal SD2 is solved, and the control step is not repeated in the text.
  • the specific process of the algorithm is described by adopting an assumed ideal signal.
  • the actual signal waveform drawing of the automatic working system of this embodiment, detected in an actual working scene is as shown in Fig. 16(a)
  • the red waveform is a first detection signal SJ1 detected by the first detection device 1101
  • the blue waveform is a second detection signal SJ2 detected by the second detection device 1102
  • the actually detected signals contain many points with great noise influence.
  • the actual signal is directly subjected to step T1 operation to obtain the actual waveform of the product signal SM as shown in Fig. 16(b) .
  • the large value index Index_Pos corresponding to the product signal SM and the small value index Index_Neg are just points with small influence in the actually detected signals.
  • the process steps is similar to the embodiment of two detected signals.
  • the specific different step is: in the multiplying step, multiplying the plural detection signals each other to generate a product signal
  • Fig. 17 shows a step block diagram of another preferable embodiment of the present application.
  • the specific steps of this embodiment are more than the embodiment as shown in Fig. 6 by an optimal filtering step Tl', a signal to noise ratio of the signal is maximized and the anti-interference capacity of the automatic working system is further improved.
  • the optimal filtering step T1' is set to be between step T1 of performing the multiplying step on the obtained digital signals to obtain a product signal SM and step T2 of correspondingly valuing by the product signal SM.
  • the product signal obtained in step T1 is subjected to optimal filtering, and the product signal subjected to optimal filtering serves as an input signal of step T2.
  • an optimal filter is disposed in the processor 150, the optimal filter has an optimal filtering core h, and the optimal filtering core h is a basic signal of noise filtering.
  • the optimal filtering core h is selected from the signal of the automatic moving device 10 at the preset position point of sensed boundary signals in the automatic working system.
  • the point farthest away from the boundary wire 50 is selected, and the signal value measured by the detection apparatus at such point is the optimal filtering core h.
  • the optimal filtering core h can also adopt a mean value of signals measured by multiple detection devices at the weakest position point.
  • the boundary signal of the automatic working system is determined, and the ideal signal S can be calculated according to the boundary signal.
  • the covariance can be pre-estimated according to the specific scene of the automatic working system.
  • Fig. 18 is a specific flow chart of the embodiment as shown in Fig. 17 , the embodiment is only added with the optimal filtering step compared with the denoising algorithm flow as shown in Fig. 15 .
  • the specific flow of Fig. 18 is described in the following text, and the part same as the denoising algorithm of Fig. 15 is not repeated.
  • Fig. 19 discloses a step block chart of another embodiment of the present application.
  • the embodiment differs from the embodiment in Fig. 6 in the judging step after the multiplying step.
  • the embodiment as shown in Fig. 6 obtains characteristic values by the correspondingly valuing step after the signal multiplying step, then compares the characteristic values with preset thresholds, thereby judging whether the first detection signal or the second detection signal is interfered, i.e., judging whether the first detection signal or the second detection signal is an effective signal, and whether the inside outside relation between the automatic moving device and the boundary wire can be further judged based on the signal.
  • the embodiment as shown in Fig. 19 firstly multiplies the first detection signal by the second detection signal to obtain a product signal, then filters the signals smaller than a specific intensity value, and finally judges whether the signal is effective according to a filtering result.
  • the step of specifically judging whether the detection signals are the effective signals of the embodiment as shown in Fig. 19 can be combined with the embodiment as shown in Fig. 15 and related modifications and optimal solutions to constitute new embodiments. Similarly, the step of specifically judging whether the detection signals are the effective signals of the embodiment as shown in 19 is also applicable to the embodiment added with the filtering step as shown in Fig. 18 . Since present invention has explained respective single embodiments very clearly, those skilled in the art can combine the single embodiment very easily, therefore, the combination modes of respective embodiments are not repeated in the text.
  • the automatic moving device 10 can be various forms of a mower, a dust collector, an industrial robot, etc.
  • the automatic moving device 10 is the mower
  • the automatic moving device also comprises a cutting mechanism, which comprises a cutting motor and a cutting blade, and when the mower works in the working region 30 defined by the boundary wire 50, the cutting motor drives the cutting blade to rotate and mow the lawn.

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EP3376329A4 (fr) 2019-06-12
CN106843199B (zh) 2021-11-16
WO2017080408A1 (fr) 2017-05-18
US11003192B2 (en) 2021-05-11
CN106843199A (zh) 2017-06-13
US20190064842A1 (en) 2019-02-28

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